KR102096001B1 - Flexgrip - Google Patents

Abstract

Various flexible body harnesses are provided to distribute loads comfortably and evenly over one or more segments of the human body. The trajectory of the load-bearing strap of the provided body harness applies a shear force to the lower part of the skin of the body segment uniformly across the length of the load-bearing strap. This trajectory can approximate a catenary curve with the strap surrounding the body segment. The orbits of these straps around the body segment attach the straps to the underlying layer, bond the straps to the flexible material, and / or weave additional straps around the load-bearing straps to maintain their relative position and / or curvature. Is maintained. Such a body harness may be provided as part of an assistive, rehabilitation, prosthetic or strength-reinforcement system configured to apply force to the body through the body harness.

Description

Flexgrip

Cross reference to related applications

This application claims the priority of U.S. Provisional Application No. 62 / 120,794, filed February 25, 2015, the contents of which are incorporated herein by reference.

Government approval

The present invention was made in part by government support under contract P22139 awarded by the United States Defense Advanced Research Projects Agency and contract W32U7A awarded as part of wearable robotics IR & D. The United States government has certain rights in this invention.

Unless otherwise specified in this application, the materials described in this section are not prior art to the claims in this application and are not admitted to be prior art by inclusion in this section.

[0002] In many physical activities, a participant who participates in the activity performs to the limits of his or her physical abilities, testing the participant's endurance, toughness, coordination, shock resistance, or other physical parameters. Warriors can be expected to carry heavy loads over long distances, taking the risk of damage from waterfalls, unstable terrain, or other unexpected physical impacts, and overburdening endurance. The elderly or physically disabled may have difficulty performing activities of daily living, with reduced endurance, toughness, injury resistance, balance, or other problems. Goods carriers or other persons engaged in physical labor, have difficulty coordinating physical hard work (e.g., lifting large objects) among different people and the risk of injury caused by repeatedly lifting heavy loads over time. This can increase. Athletes may be exposed to other forces, joints, or tendons (tendons) sufficient to cause significant temporary or permanent injuries. Individuals recovering from surgical or crippled injuries may not be able to perform the minimum amount of work necessary to initiate rehabilitation and thus may not be permitted to recover. In other examples, there are groups or activities, each of which may require more physical capacity than is useful to members of the group or participants to the activity.

International Publication Patent Publication WO 2014/151065 (2014.09.25.)

Assistive devices can alleviate some of these problems. Various assistive devices, including various exoskeleton based devices, have been developed to increase the user's strength, fatigue resistance, coordination, or other factors. Such an exoskeleton or other device may be powered or non-powered, controlled by feedback from user actions, operated in a feed-forward manner, or completely passive (eg, hernia ( hernia) belt, lifting harness. Auxiliary devices can include electrical or mechanical actuators, sensors, and controllers. Various assistive devices have been applied to some of the above groups and activities, varying the degree of success.

[0004] Some embodiments of the present invention provide a flexible body harness mountable to a segment of a body such that a flexible body harness can at least partially surround a segment of the body. The flexible body harness includes: (i) a flexible underlayer; (ii) tether; And (iii) first and second straps; It includes. The first and second straps are connected to the tether and the flexible underlayer, such that when the flexible body harness is mounted to a segment of the body such that the flexible body harness at least partially surrounds the segment of the body, the first and first The two straps are arranged at least partially along the respective first and second trajectories around the segment of the body. The first and second trajectories around the segment of the body are on each side of the flexible body harness relative to the tether. Further, each angle of the first track and the second track with respect to the tether may include a first strap and a second strap, respectively, from a tether crossing at least a corresponding portion of each of the first strap and the second strap. The body increases substantially along the following distance, and thus, when shear force is applied to the flexible body harness through the tether, the body substantially crosses the respective corresponding portions of the first and second straps through the first and second straps and the lower layer. A shear force is applied to the skin of the segment.

[0005] Some embodiments of the present invention provide a flexible body harness mountable to a segment of a body such that the flexible body harness can at least partially surround a segment of the body. The flexible body harness includes: (i) a tether; And (ii) first and second straps; It includes. The first and second straps, when mounted on a segment of the body such that the flexible body harness at least partially surrounds the segment of the body, at least partially along the first and second trajectories, respectively, around the segment of the body. It is connected to the tether so that a second strap is disposed. The first and second trajectories around the segment of the body are on each side of the flexible body harness relative to the tether. Further, each angle of the first track and the second track to the tether is at a distance along the first strap and the second strap, respectively, from the tether crossing at least a corresponding portion of each of the first strap and the second strap. The skin of the segment of the body that substantially crosses the respective corresponding portion of the first and second straps, through the first and second straps, when shear force is applied to the flexible body harness through the tether. Is applied to the shear force. The flexible body harness is: (iv) woven together with the first and second straps to maintain the first and second straps along the first and second trajectories, respectively, when force is applied to the flexible body harness through the tether A plurality of alignment straps; It further includes.

[0006] Some embodiments of the invention include: (i) mounting a flexible body harness to a segment of the body such that the flexible body harness at least partially surrounds the segment of the body; It provides a method comprising. The flexible body harness includes: (a) a flexible underlayer; (b) tether; And (c) first and second straps; It includes. The first and second straps are disposed on the flexible underlayer, and the tether and the flexible underlayer are such that the first and second straps are disposed at least partially along the respective first and second trajectories around the segment of the body. Connected. The first and second trajectories around the segment of the body are on each side of the flexible body harness relative to the tether. Further, the connection position between the flexible lower layer and the first strap is adjustable so that the first trajectory can be adjusted. Each angle of the first and second trajectories relative to the tether is such that when a force is applied to the flexible body harness through the tether, shear forces are applied to the skin of the segment of the body through the first and second straps and the underlying layer. , The distances along the first strap and the second strap from the tether crossing at least a corresponding portion of each of the first strap and the second strap are increased as the distance increases.

The method comprises: (ii) applying a force to the flexible body harness through the tether; (iii) at two or more locations along the first strap, determining a relative amount of shear force applied to the skin of the segment of the body through the first strap and the underlying layer; (iv) determining which of the two or more positions has the greatest shear force applied; And (v) adjusting the strap at a position where the shear force applied among the two or more positions is greatest, so that the skin of the segment of the body through the first strap and the lower layer at the determined position of the two or more positions. Adjusting the strap so that the applied shear force decreases; It further includes.

These and other aspects, advantages and alternatives will become apparent to those skilled in the art by reading the following detailed description, with appropriate reference to the accompanying drawings.

1 shows a flexible body harness.
2 shows an orbit of straps of a flexible body harness mounted around a body segment.
3A is a rear view of an exemplary body harness mounted around a cylindrical body segment.
3B is a side view of the example body harness shown in FIG. 3A.
3C is a rear view of an exemplary body harness mounted around a cylindrical body segment.
3D is a side view of the exemplary body harness shown in FIG. 3C.
4A is a side view of a body harness mounted around the calf of the body.
4B is a rear view of the body harness shown in FIG. 4A.
5 is a perspective view of a body harness mounted around the forearm of the body.
6 is a rear view of the body harness mounted around the calf of the body.
7A is a side view of a body harness mounted around the calf of the body.
7B is a side view of a body harness mounted around the calf of the body.
7C is a side view of a body harness mounted around the calf of the body.
8 shows the interconnection of the strap of the body harness.
9A shows the interconnection of the strap of the body harness.
9B shows a schematic diagram of a first configuration of interconnection of the straps of the body harness shown in FIG. 9A.
9C shows a schematic diagram of a second configuration of interconnection of the straps of the body harness shown in FIG. 9A.
10A is a side view of a body harness mounted around the calf of the body.
10B is a side view of the body harness shown in FIG. 10A after applying a force to the body harness.
10C is a side view of the body harness shown in FIG. 10B after adjusting the strap of the body harness.
10D is a side view of the body harness shown in FIG. 10C after further adjusting the strap of the body harness.
11A is a front view of an exemplary flexible exosuit comprising multiple body harnesses.
11B is a side view of the exemplary flexible exosuit of FIG. 11A.
11C is a rear view of the exemplary flexible exosuit of FIG. 11A.
12A is a schematic diagram of components of a body harness.
12B is a schematic diagram of the components of a body harness.
12C is a schematic diagram of the components of a body harness.
12D is a schematic diagram of the components of a body harness.
12E is a schematic diagram of the components of a body harness.
12F is a schematic diagram of the components of a body harness.

In the following detailed description, reference is given to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically indicate similar elements, unless context dictates otherwise. The illustrative embodiments described in the detailed description, drawings, and claims of the invention are not intended to limit the invention. Other embodiments may be utilized, and other modifications may be made without departing from the scope of the subject matter herein below. As generally described below, and as shown in the figures, various aspects disclosed herein, such as the specification, are arranged, substituted, combined, separated, in different configurations, with all the broad and varied expressly intended hereinafter. And it should be readily understood that it can be designed.

I. Overview

[0039] Some embodiments of the present invention provide a flexible body harness mounted on the wearer's body and configured to exert a force on the wearer's body, for example, with respect to various physical activities of the wearer. In some embodiments, a flexible body harness may transmit force between segments of the wearer's body to increase the force applied by the muscle portion of the wearer's body, or may be provided with a prosthetic device (eg, from the wearer's body). , Transmits force to artificial legs and artificial arms, transmits force to loads (e.g., backpacks, heavy tools), or transmits force from parts of the vehicle (e.g., force exerted from the hang glider frame) Alternatively, it may transmit force as part of a surgical or rehabilitation device, or may transmit force from or to one or more segments of the wearer's body according to some other application.

Such a body harness may be configured to transmit this force through the skin of the body segment into the body segment of the wearer. Such forces can include normal forces (ie, forces into the skin surface) and / or shear forces (ie, forces parallel to the skin surface). However, transmitting too much vertical and / or shear force to a certain area of the skin (ie, applying too much vertical and / or shear pressure to the skin at any one location) can cause discomfort and / or injury. Thus, the flexible body harness described herein is applied over a certain area of the skin of the body segment, for example, to distribute the force evenly over the skin area of the body segment to which the flexible body harness is mounted. It is configured to provide an increased amount of total force transmitted into the body segment through the flexible body harness, while maintaining the maximum vertical and / or shear pressure below a certain maximum value.

In particular, the flexible body harness described herein is configured to evenly distribute the shear force and / or shear pressure applied to the skin of such a body segment. It is often advantageous to apply a force to the body segment in the long axis direction of the body segment, such that a substantial portion of the applied force is parallel to the skin surface on the body segment. Long axis of the calf behind the ankle, for example, to facilitate providing energy between the calf and the foot to recover energy from the bending movement and / or to assist the stretching of the ankle under conditions of load on the ankle during movement Accordingly, it may be beneficial to transfer forces from the body's calf. As another example, the calf and thigh in front of the knee to facilitate providing energy between the calf and thigh to help recover energy from the flexion and / or assist the stretching of the knee under load on the knee during movement. It can be beneficial to transmit forces from the calf and thigh of the body along the long axis of the force, which is distributed evenly across the skin of the body segment and as a shear force and / or shear pressure parallel to the direction of the applied force. , By a flexible body harness as described herein, can be delivered into the skin of the body segment.

This is shown in an exemplary manner in FIG. 1. 1 shows an element of an auxiliary system 100 that includes a number of elements configured to apply force across the ankle of the wearer. The system 100 includes a flexible body harness 110 mounted on a calf segment of the wearer's body. The flexible body harness 110 is connected to the transmission element 120 via a tether 115 or other force-coupling means of the flexible body harness 110, and the transmission element 120, again, is worn by the wearer It is connected to the boots 130 mounted on the foot segment of the body. The transmission element 120 is a passive element (e.g., spring, shock absorber, elastic) configured to provide force between the calf and foot of the wearer's body via a flexible body harness 110 and boots 130, respectively. Cords, pulleys) and / or active elements (eg, hydraulic cylinders, linear electric actuators, twisted string actuators, electromechanical, electrostatic, hydraulic or other configured clutches). This force transmitted between the calf and the foot behind the ankle can act to provide stretch or plantar flexion torque to the ankle and / or to provide compression force to the ankle.

The system 100 shown in FIG. 1 includes a flexible first body harness element (ie, flexible body harness 110) and a rigid second body harness element (ie, boot 130) , Configured to apply force and / or torque across the wearer's ankle. However, flexible body harnesses as described herein can be used for various separate body segments (e.g., thigh, foot, upper arm, lower arm, hand, finger segment, head, torso, pelvis) and / or body segment. It can be mounted on some (e.g., upper torso, lower torso), and to one or more other body segments via actuators, springs, shock absorbers, clutches or other force-transfer elements, the body segments on which the flexible harness is mounted. In another area (e.g. from the upper body harness to the lower body harness), to loads or other devices (e.g. in backpacks, prosthetics, in some tools, in vehicles), or in any other object or body To the site, it can be connected.

1, the force applied to the calf body segment through the flexible body harness 110 is in the long axis direction of the calf body segment. In this example, a significant amount of force applied to the calf body segment through the skin of the calf body segment can be applied to the skin by the flexible body harness 110 as shear force and / or shear pressure. The flexible body harness 110 reduces the maximum shear force applied to any one region of the skin due to loading of the flexible body harness 110 with a force of a given size, thereby reducing an area of the skin. It can be configured to apply this shear force uniformly across.

To evenly distribute this applied force, this flexible body harness can include one or more pairs of straps coupled to a tether or other force transmission means of the flexible body harness. Each strap is substantially non-stretchable along its length, yet flexible in the other direction. Thus, each strap can transmit forces along its length, while bending and / or bending, for example, according to changes in the geometry of a body segment equipped with a flexible body harness comprising the strap. The straps are each at least partially around the body segment such that when a force is applied to the flexible body harness through a tether or other force transmission means, a shear force is applied substantially evenly to the skin of the body across a portion of each strap. It can be placed along the orbit. These areas may be the entire one or more straps, the portion of the one or more straps closest to attaching the strap (s) to the tether, and / or the portion of the one or more straps distant to attach the strap (s) to the tether. It may include. The strap trajectory of each of the pair of straps of this flexible body harness is flexible body harness for the tether, for example balancing the force applied to the tether that can replace the tether's position around the body segment. It can move around the body segment on the opposite side of the. The evenly applied shear force and / or shear pressure can be applied primarily in a direction parallel to the force applied to the tether or other force-transfer means of the flexible body harness.

The orbit of such a strap can be specified according to additional considerations. For example, the trajectory of the strap of the flexible body harness as described herein can be specified such that the strap does not slip on the body segment to which the harness is mounted. That is, the trajectory of the strap is sufficiently large that the vertical force and / or pressure applied at each position along the strap is greater than the shear force and / or shear pressure applied at each position along the strap, so that the flexible body harness is applied to the skin. It can be specified so as not to slip against.

[0047] As described herein, the step of substantially evenly applying a shear force across a portion of the strap of the flexible body harness is, for any amount of change in the shear force across the portion of the strap, any predetermined amount And applying a range of shear force and / or shear pressure at each location along the portion of the strap, varying less than. For example, the difference between the maximum shear force and / or shear pressure applied to the skin along the portion of the strap and the minimum shear force and / or shear pressure applied to the skin along the portion of the strap is determined by any specific amount (e.g. , 10%). It can be said that this pattern of shear force applied to the skin of a segment of the body across a portion of the strap of the flexible body harness varies less than 10%. In another example, the rate of change of the applied shear force in response to a change in position along the strap cannot be greater than any predetermined maximum at any position across the portion of the strap.

The trajectory of the strap of this flexible body harness around the body segment may correspond to various shapes determined and / or set according to various methods, so that the flexible body harness at least partially surrounds the body segment. When applied to the body segment and when force is applied through the tether of the flexible body harness, through the strap, shear the skin of the body segment substantially across the parts of each strap (e.g., shear) Pressure) is applied. In some examples, the area where the shear force is applied equally can include substantially all straps (eg, both in contact with the skin of the body segment and / or adjacent straps). To evenly apply the shear pressure, the angle of the strap (and thus relative to the direction of the applied force) with respect to the tether to which the force is applied can increase with distance from the tether across this portion of the strap. In this configuration, the shear pressure applied from the strap to the skin (eg, through the other element (s) or underlying layer of the flexible body harness, or directly), is substantially at each location across the portion of the strap. It can have the same size. That is, the shear force can be evenly applied to the above portion of the strap.

An example of such an orbit is shown in FIG. 2 in an exemplary manner. 2 shows a schematic view of a flexible body harness 200 constructed in this way. The harness 200 includes a plurality of straps 220 coupled to the tether 210. As shown in FIG. 2, the trajectory of the strap 220 is released from the body segment in which the harness 200 can be mounted. The direction of the force 205, which can be applied to the harness 200 through the tether 210 and, as a result, evenly applied to the skin of the body segment across the parts of the strap 220, is a vertical arrow ("applied Force direction "). The horizontal arrow (“around body segment”) indicates the direction of displacement around the body segment when the harness 200 is mounted on this body segment.

The illustrated trajectory of the strap 220 in FIG. 2 can be an orbit that completely surrounds the body segment (eg, the ends of the illustrated strap, snaps, ties, notes (knot), adhesive, or any other means of joining the ends of a pair of straps may be joined together on one side of the body segment opposite the tether 210, and / or the opposing straps may At the end, it may include a single continuous strap coupled to the tether 210 and surrounding the body portion). Alternatively, the illustrated trajectory may partially surround the body segment (eg, the ends of the straps 220 may be tethered to the lower layer, and / or the straps may be a body segment It may be continuous around, to engage the clasp or other means for detaching the harness 200 to the body segment to meet the ends of the corresponding straps), or it may be repeatedly wrapped around the body segment ( For example, a particular strap may be completely wrapped around the body segment one or more times, along the trajectory shown, before encountering the end of the opposite strap, engaging the clasp, engaging the underlying layer, or otherwise terminating).

The trajectory of a particular strap is a shearing action applied directly or indirectly to the skin by the strap at a number of different locations, at a number of different locations on the particular strap (eg, a shear force applied at a number of different locations) And / or shear pressure). This is indicated by the exemplary locations “LOC ₁ ” and “LOC ₂ ” on the same strap 220 of the harness 200 of FIG. ₂ . Shear force (c ₁ and c ₂ ) applied directly or indirectly to the skin of the body segment by the strap, as well as tensile force in both directions along the strap (a ₁ and a ₂ in the direction towards the strap, away from the strap B ₁ and b ₂ ) are also shown, for each position, by respective force diagrams. Although the strap 220 can transmit force along its length, but is flexible in the vertical direction, the force transmitted along the strap (eg, the tensile force of the strap along the length of the strap (a ₁ , a ₂ , b ₁ , force as b ₂ )) moves as the strap moves away from each position. Since the trajectory of the strap 220 increases as the angle of the strap relative to the tether 210 increases with the distance from the tether 210, the angles of these forces transmitted along the strap are not the same, so the residual force c ₁ , c ₂ ) can be applied to the skin either directly or indirectly (eg, by shear force or shear pressure) from the strap at each location. As shown in Figure 2, the trajectory of the strap 220 is such that the residual force is substantially the same across the portion of the strap (shown in Figure 2 in the same size of c ₁ and c ₂ ), the shearing action It can be specified to be evenly distributed over the portion of the strap (eg, over the entire strap, over one portion of the strap proximal to the tether 210).

[0052] The trajectory and force shown above is indicative of a position in a three-dimensional space (eg, a position on the skin of the body segment) along the outer surface of the body segment projected on the two-dimensional plane of the drawing. It should be noted. Indeed, the trajectory of the strap of the flexible body harness as described herein will have a three-dimensional shape when the harness is at least partially mounted around the wearer's body segment. In addition, the forces exerted on the skin by these straps include both forces parallel to the skin surface (ie shear force and / or shear pressure) and forces perpendicular to the skin surface (ie compressive force and / or pressure to the skin). can do.

The trajectory of the strap (eg, strap 220) of the flexible body harness as described herein is such that the harness is mounted to the body segment, and through the tether or other loading means, the force is Various forms can be assumed and / or included such that when applied, the shear force is uniformly applied to the skin of the body segment across the various parts of the strap. In some examples, portions of the orbit may correspond to sections of a catenary curve. For example, if the surface shape of the body segment is close to the cylinder, a strap that follows the orbit over the outside of the body segment, which is half the catenary curve, when loaded through the tether, the orbit is half the catenary curve. The shear force can be evenly applied to the skin of the body segment that crosses the portion of the strap corresponding to. Different orbits of the strap, including different shapes, can be used to evenly distribute the force exerted by the strap over some or all lengths of the strap. This trajectory is based on the model of the corresponding body segment (e.g., based on the cylindrical geometry, based on the measured geometry of the body segment of a particular wearer), the calculated average geometry of the body segment of a large number of individuals. Structure). Additionally or alternatively, to increase the degree to which the trajectories of one or more straps of the harness are distributed evenly over one or more parts of the strap, for example, the force exerted by the strap into the skin, The flexible body harness can be adjusted so that it can be adjusted.

As described above, a pair of straps of a flexible body harness can form a single continuous strap that completely surrounds the wearer's body segment. The straps are configured to track each trajectory, based on the geometry or other characteristics of the body segment, such that one or more portions of each strap exert a uniform shear force on the skin of the body segment along the corresponding portion of each strap. Can follow. As described above, this trajectory can include such segments, with respect to the tether of the harness to which the straps are joined, the angle of the strap increasing with the distance along the strap from the tether. Such trajectories may correspond to segments of a catenary curve, for example, when the surface of the body segment is approximately cylindrical.

[0055] This is illustrated as an exemplary manner in FIGS. 3A and 3B. 3A shows a front view of the flexible body harness 300a mounted to completely surround the substantially cylindrical body segment 305a. 3B shows side views of the flexible body harness 300a and body segment 305a. The flexible body harness 300a includes such a tether 310a, through which force can be applied to the flexible body harness 300a. The flexible body 300a may also include a continuous strap (s) 320a, both ends of which are connected to the tether 310a and follow the trajectory around the body segment 305a, and thus the tether 310a. When a force is applied to the harness 300a through, the shear force is evenly applied to the skin of the body segment 305a through the strap (s) 320a. 3A and 3B, the angle of the strap 320a relative to the tether 310a is (eg, on the opposite side of the body segment 305a from the tether 310a) of the strap 320a. Until the angle is perpendicular to the tether 310a, it increases with the distance along the strap 320a from the tether 310a. The shape of the trajectory of the strap 320a may correspond to a section of a catenary curve wound around the body segment 305a.

The strap of this flexible body harness can be wrapped around the body segment several times. The flexible body harness can be configured in this way to increase the area and / or length of such straps such that forces applied to the harness can be distributed to the skin of the body segment, with shear and / or vertical forces. This is illustrated in an exemplary manner in FIGS. 3C and 3D. 3C shows a front view of the flexible body harness 300b mounted to completely surround the generally cylindrical body segment 305b. 3D shows side views of the flexible body harness 300b and body segment 305b. The flexible body harness 300b includes such a tether 310b, which allows force to be applied to the flexible body harness 300b. The flexible body harness 300b also includes a continuous strap 320b along the trajectory that is connected to the tether 310b at both ends and wraps around the body segment 305b multiple times, thereby providing the tether 310b. When a force is applied to the harness 300b through, the shear force is evenly applied to the skin of the body segment 305b through the strap (s) 320b. 3C and 3D, the angle of the strap 320b relative to the tether 310b is (eg, on the opposite side of the body segment 305b from the tether 310b) of the strap 320b. Until the angle is perpendicular to the tether 310b, it increases with the distance along the strap 320b from the tether 310b. The shape of the trajectory of the strap 320b may correspond to a section of the catenary curve wound around the body segment 305b.

The flexible body harness as described herein is coupled to a tether (and / or multiple consecutive straps surrounding the body segment and coupled to this tether at both ends) and the harness is mounted along each trajectory. It may include several pairs of at least partially disposed body segments, such that when a force is applied to the tether, the strap (eg, as shown in FIG. 2) is applied to the corresponding portion of each strap. It is intended to apply a substantially evenly distributed shear force across the. In addition, a flexible body harness configured to be mounted to a particular body segment is configured with a corresponding set of straps configured to apply a force to each of the multiple tethers and to distribute the applied force evenly over portions of the strap of the harness. Together, it can include multiple tethers. Moreover, such a flexible body harness can also be used when a force is applied to the tether of the harness (e.g., by weaving the straps to one another and / or to a set of alignment straps, for example, a flexible underlayer or other garment or By combining the straps with the material, in various ways to maintain the trajectory of the strap so that the force is applied evenly over the parts of the strap (by forming the strips on or within the flexible underlayer or other garment or material). Can be configured.

A plurality of harnesses configured to be mounted at least partially around a number of each body segment can be integrated into a single flexible system, eg, a flexible garment, so that the harness can be incorporated into each body. Desorption to the segment can be facilitated. These systems include one or more hydraulic cylinders, linear electric actuators, twisted string actuators, electromechanical, electrostatic, hydraulic, and other configured clutches, springs, shock absorbers, elastic cords, pulleys, or different flexible body harnesses of each of the above systems. Other active and / or passive force-transmitting elements coupled between the tethers of, so that when the system is mounted on such a wearer (eg, when he wears), each of the wearer's It can be adapted to transmit forces through different harnesses between different body segments. These systems include motor drivers, hydraulic pumps, electrostatic generators, sensors, batteries, control interfaces, controllers, or other components configured to provide some functionality of the system (eg, through the system's flexible body harness to the wearer's (To provide supportive power to the body).

II . Flexibility body Harness Example

A flexible body harness as described herein is a force that is applied to a tether or other load-transfer means of the harness when the flexible body harness is at least partially mounted around the body segment. It can be configured in a variety of ways, such that it can be applied evenly to the skin of the body segment across the entire and / or one or more regions of the one or more straps. In addition, these flexible body harnesses, for example, in order to facilitate detachment of the harness, each strap is orbited so that the strap can uniformly apply a shear force and / or shear pressure or other force to the skin of the body segment. Deodorize and / or blade moisture from the skin to facilitate the adjustment of the trajectory of the strap, thus to maintain the strap of the harness, further to disperse this applied force over a larger area from the strap ) Or to provide insulation, protection from projectiles, to inhibit bacteria and / or fungi, or to provide some other functionality, and may include additional elements and / or be configured to provide additional functionality. have.

[0060] In some embodiments, the flexible body harness may include a flexible underlayer. The strap of the flexible body harness is used to facilitate the transfer of shear forces or other forces from the strap through the flexible underlayer to the skin of the body segment, to maintain the trajectory of the strap relative to that body segment, or any other function. To provide, it can be coupled to a flexible underlayer. This flexible underlayer has flexibility and / or compliance with a flexible body harness (e.g., at least in the direction along the strap, smaller than that of the strap), such that the flexible body layer is equipped with a flexible body harness. To the skin, through the flexible underlayer, it allows to distribute the shear force and / or shear pressure uniformly and to transmit the force along its length.

In addition, such a flexible underlayer can be configured to provide additional functionality. The material of the flexible underlayer can include anti-bacterial, anti-fungal, or other agents (eg, silver nanoparticles) to prevent microbial growth. The flexible underlayer can be configured to manage the transfer of heat and / or moisture (eg, sweat) from the wearer to improve wearer comfort and activity efficiency. The flexible underlayer is a strap, seam, hook-and-loop fastener, claps, zipper, or other configuration configured to maintain a certain relevance between the anatomical aspects of the wearer and components of the flexible body harness. Elements (eg, straps, tethers, flexible underlayer itself). This can additionally increase the ease with which a wearer can wear and / or detach a garment or system (eg, a flexible exosuit system) comprising a flexible body harness and / or a flexible body harness. have. The flexible underlayer can additionally be configured to protect the wearer from ballistic weapons, sharp edges, debris or other environmental hazards (eg by including a flexible component or panel of para-aramid or other high strength material).

[0062] In some embodiments, the strap (and / or tether) of the flexible body harness may be disposed on the flexible underlayer of the flexible body harness. As described above, the flexibility of this flexible underlayer, at least in the direction along the strap, allows the strap to equalize the shear force and / or shear pressure, for example through the flexible underlayer, into the skin of the body segment. It may be less than the flexibility of the strap along the length of the strap to facilitate distribution and / or to facilitate the transmission of tensile forces along its length. The strap of this flexible body harness can be attached to the flexible underlayer by stitching, adhesives, snaps or buttons, additional straps, ties, hook-and-loop fasteners. Side and front views of an embodiment of this flexible body harness are shown in FIGS. 4A and 4B, respectively. The flexible body harness 400 is mounted to surround the body segment 405 (eg, calf). The flexible body harness 400 includes four pairs of straps 420 coupled to a tether 410 and a flexible underlayer 430. The strap 420 is disposed on the flexible underlayer 430 along each trajectory, as described herein, so, through the tether 410, a force is applied to the flexible body harness 400 When possible, through substantially uniform (e.g., substantially uniform across each strap 420) over the corresponding portion of each strap 420, through the strap 420 and the underlying layer 430, Shear force is applied to the skin of the body segment 405.

4A and 4B, the strap 420 is coupled to the flexible underlayer 430 by a layer of hook-and-loop fasteners. In particular, a plurality of hooks are disposed on the lower portion of the strap 420, so that the hooks can be removably coupled to the material of the flexible lower layer 420. Thus, the engagement position between the flexible underlayer 430 and each strap can be adjusted to allow adjustment of the trajectory of the strap 420 around the body segment 405. A pair of straps 420 can follow the overlapping trajectory, and these overlapping straps can engage each other at the intersection of the overlapping trajectories, e. In order to remain in position and not displace around the body segment 405, it is intended to allow residual tensile forces at the ends of the pair of straps to be transferred between each pair of straps 420. Each of the straps 420 includes a plurality of protrusions 425 configured to distribute forces from the straps 420 through the flexible underlayer 430 into the skin of the body segment 405.

It should be noted that the flexible body harness 400 shown in FIGS. 4A and 4B is intended as a non-limiting example of a flexible body harness comprising pairs of straps disposed on a flexible underlayer. For example, the strap of this harness can be joined to the flexible underlayer, for example, by some other means, such as snapping, stitching, adhesive, or by some other coupling means. In addition, the strap of such a harness may not have the force-distributing protrusions 425 shown, and / or some additional for distributing force from the strap of the harness into the flexible underlayer and / or into the skin of the body segment. Or alternative means. Moreover, such a flexible body harness may also include more or fewer pairs of straps coupled to the tether, and / or (eg, multiple locations of a body segment to which such flexible body harness is mounted) And / or additional sets of related straps and tethers (to provide a combination of forces in multiple directions).

[0065] In some embodiments, the strap (and / or tether) of the flexible body harness may be formed within the flexible underlayer of the flexible body harness. The strap of such a flexible body harness may be formed of a fabric or other material constituting the flexible underlayer or of a material disposed thereon. For example, the flexible underlayer may include a fabric layer, and the strap may be formed of a polymer, resin, or other material, which is disposed on or inside the woven fabric of the underlayer, It is formed by a strap that is dried, cured or incorporated into the underlying material. In another example, the strap of the flexible body harness can be woven from fabric or other material of the flexible underlayer. For example, the flexible underlayer may be woven from a first type of thread, wire, or other material, and the strap may include a second type of thread, wire, or the first type of material. It can be formed from other woven materials. Additionally or alternatively, the strap can be formed from a region of woven underlayer material, with a finer weave, a different weave pattern, or otherwise deformable relative to other portions of the flexible underlayer. As such, the strap portion is thus capable of transmitting force along each trajectory, as described herein. At least in the direction along the strap, the flexibility of parts of such a flexible underlayer that does not include a strap of this flexible body harness may be less than the flexibility of such a strap part along the length of the strap, for example, Note that it is intended to facilitate strap elements formed in a flexible underlayer that transmits tension along the length and / or such strap elements to evenly distribute the shear force and / or shear pressure into the skin of the body segment. shall.

Such a flexible body harness is shown in FIG. 5. The flexible body harness 500 is mounted to surround the body segment 505 (eg, anterior foil). The flexible body harness 500 includes a strap pattern 520 formed in the flexible lower layer 530. The strap pattern 520 may be a polymer material formed in the woven fabric of the flexible underlayer 530. In another example, the pattern of strap 520 can be made of a thread, wire, or other load-resistant material, which can be incorporated into a fiber, rubber, polymer, or other load-resistant material of flexible underlayer 530. It is woven inside, through, or through. In another example, the pattern of the strap 520 is fabric, as described herein, compared to other areas of the flexible underlayer 530, so that the strap portion can transmit force along the corresponding trajectory. The fiber region of the flexible underlayer 530 may have a denser weave, different patterns of weave, or different properties of the fabric. The pattern of the strap 520 formed in the flexible lower layer 530 is connected to the tethers 510. The pattern of the strap 520 can be configured to correspond to an orbit as described herein, so that when a force is applied to the flexible body harness 500 through one or both tethers 510, Through the pattern of the lower layer 530 and the strap 520, a shear force is applied to the skin of the body segment 505, which is substantially uniform across the corresponding portion of the strap in the pattern of the strap 520 (eg For example, it is substantially uniform across each of the multiple orbits through the pattern of the strap 520).

The flexible body harness 500 shown in FIG. 5 is intended as a non-limiting example of a flexible body harness comprising a pair of straps formed within the flexible underlayer. For example, such a flexible body harness is coupled to a tether (eg, to provide coupling of forces in multiple directions and / or multiple positions of the body segment to which this flexible body harness is mounted). It may include some pairs of straps formed of different patterns of straps, and / or may include additional sets of related straps and / or tracks, and tethers through the pattern of straps.

[0068] In some embodiments, the 'load-bearing straps' of the flexible body harness, when the flexible body harness is mounted to the body segment, the anti-load straps of the flexible body harness are each It can be woven together, and / or woven with a plurality of additional alignment straps, so as to remain along the trajectory of. This flexible body harness is shown in FIG. 6. The flexible body harness 600 is mounted to surround the body segment 605 (eg, calf). The flexible body harness 600 includes a pair of straps 620 coupled to the tether 610 and woven together. The subset of straps 620 are 'load-resistant straps' disposed along each trajectory, as described herein, so that force is applied to the flexible body harness 600 through the tether 610 When, when the shear force is applied to the skin of the body segment 605 through the 'in-load strap' 620, which is applied to the respective parts of the 'in-load strap' 620 It is substantially uniform across (eg, substantially uniform across each whole of the 'load-bearing strap' 620). Another subset of the strap 620 is an alignment strap woven with the 'in-load strap' to hold the 'in-load strap' along each trajectory.

As shown in FIG. 6, the straps 620 are coupled to each other through brads 630. Each brad is relative to two or more straps (eg, between 'in-load straps', between alignment straps, and / or between one or more 'in-load straps' and one or more alignment straps) It is configured to maintain position. Alternatively, a force can be transmitted between the straps, and / or the relative position between the straps is, for example, stitching, knots, hook-and-loop fasteners, rubber bands, Or by some other coupling means such as adhesive. Further, although a brad is marked at each intersection of straps 620 of the exemplary flexible body harness 600, the brad (or other coupling means) is located at a subset of the intersection of straps of the flexible body harness 600 Can be. For example, the alignment straps are looped relative to each other and / or to each other, and / or to each other, and / or to each other, and / or to each other, and / or to each other and / or to each other, While held, by being fastened by hook-and-loop fasteners to 'in-load straps', or in some other way, the brad can only be positioned at the intersection of 'in-load straps'.

The flexible body harness 600 shown in FIG. 6 is intended as a non-limiting example of a flexible body harness comprising a pair of straps maintained along each trajectory by being woven with an alignment strap It should be noted. For example, such a harness may include a bottom layer upon which such straps are placed (eg, the straps are joined there by snaps, stitching, adhesives, or some other bonding means). The straps of these flexible body harnesses are intended to transfer shear forces or other forces to the skin of the body segment, to keep track of the straps of the harness, to drain moisture from the skin, to protect the skin, or any other To provide functionality, it can be coupled to such a flexible underlayer. Moreover, these flexible body harnesses are also provided with some number of tethers coupled to the tether, for example, to provide force coupling from different positions and / or in multiple directions of the body segment to which this flexible body harness is mounted. Strap pairs, and / or additional sets of tethers and related straps.

A. Harness From the strap body Segmented  Examples of means of distributing power to the skin

The flexible body harness as described herein is configured to evenly apply a shear force or other force into the skin of the body segment when the force is applied to the tether or other force-coupling means of the flexible body harness. Includes 2 or more straps. Such flexible body harnesses can include additional elements (eg battens, force-distributing fabrics) configured to further distribute the transmitted shear force or other forces over a large skin area of the body segment. . Additionally or alternatively, the strap of this flexible body harness may be configured to disperse the force applied from the strap, for example, while allowing the strap to bend along the corresponding trajectory, or a pedal. (By incorporating) such distributed shear forces or other forces over a large area of the skin of the body segment.

In the first embodiment, the flexible body harness may include a flexible lower layer, and a strap of the flexible harness may be disposed thereon. The load-resistant material of the flexible underlayer can have a flexible pattern such that the shear force transmitted to the skin through the flexible underlayer is distributed over a wide area by the flexible underlayer. In particular, at a particular position along the strap of the body harness, the flexible underlayer is in a direction of shear force transmitted from the strap (eg, perpendicular to the direction of the strap at a particular position), rather than the direction of the strap at a particular position. As), may be substantially less flexible. This is shown in FIG. 7A, showing a flexible body harness 700a mounted to a segment (eg, calf) of the body 705a. The flexible body harness 700a includes several pairs of straps 720a that at least partially follow each trajectory around the body segment 705a and are coupled to the tether 710a and the flexible underlayer 730a. The flexible lower layer 730a is an elastic anisotropic bar; That is, the load-resistant material of the flexible underlayer 730a is less flexible in the first direction (indicated by the vertical line) than in the second direction substantially orthogonal to the first direction. As such, the force applied to the flexible underlayer 730a in the first direction is (eg, the flexible load-resistant material is more flexible in the second direction, so the applied force is wider in the second direction) Since the likelihood of transmission across the region is low, rather than the forces applied to the flexible underlayer 730a in the second direction (eg, the flexible anti-load material is more stiff in the first direction), it reduces the applied force. It can be distributed over the larger area in one direction), so it can be distributed to the skin of the body segment 705a over a larger area.

This is shown in FIG. 7A at a first position 701 along the strap 720a of the flexible body harness 700a. In the first position 701a, the flexible underlayer is in the direction of the strap 703a (eg, having at least 80% greater elasticity in the direction of the strap 704a than in the direction perpendicular to the strap 703a). It is substantially more flexible in the direction of the strap 704a than in the direction perpendicular to the. As shown in FIG. 7A, the flexible underlayer of the flexible body harness is a piece of flexible load-resistant material across the entire load-resistant material of the flexible underlayer, in the same direction, and in the same way, anisotropically. Can be configured. Alternatively, the woven or other properties of the load-resistant material of the flexible underlayer may be (eg, across substantially the entirety of such a strap) (eg, in a direction perpendicular to the direction of the strap at various locations of the strap). Rather, in the direction of the strap of the flexible body harness, the direction and / or size of the anisotropy of the flexibility of the flexible underlayer may be configured to vary across the flexible underlayer (so that the flexible underlayer is substantially more flexible).

In another example, the flexible body harness is from the strap, to the skin of the body segment, and / or to other element (s) of the harness configured to transmit force into the skin of the flexible underlayer or body segment, And elements coupled to a strap of a body harness configured to distribute force. It is a hard or semi-rigid batten that is coupled to and / or to the flexible underlayer of the flexible body harness for distributing force from the strap of the body harness, through each batten, across a large area. semi-rigid battens). Additionally or alternatively, the width of the strap can be effectively increased. This may include forming the strap to include a plurality of protrusions configured to distribute the shear force applied to the skin of the segment of the body from the strap. The presence of these protrusions ensures that the buckling or folding of the strap does not occur, while still following a curved trajectory as described herein (e.g., so that the strap applies evenly to the skin evenly over a portion of the strap). While, the strap can effectively increase the area that directly or indirectly exerts a shear force or other force (eg, through a flexible underlayer) on the skin of the body segment.

This is shown in FIG. 7B, showing a flexible body harness 700b mounted to a segment 705b (eg, calf) of the body. The flexible body 700b includes several pairs of straps 720b along at least partially each trajectory around the body segment 705b and connected to the tether 710b and the flexible underlayer 730b. . Each of the straps 720b includes a plurality of protrusions 725b, which are flexible body harnesses 700b when the flexible body harness 700b is mounted on a segment of the body 705b and through the tether 710b. ), When a force is applied, it is configured to distribute the shear force applied from the strap 720b to the skin of the body segment 705b through the lower layer 730b. As such, the force applied to the body segment 705b is applied to the skin of the body segment 705b over a larger area (eg, due to the force applied to a larger area including the area of the protrusion 725b). Can be distributed. The exemplary strap 720b including the protrusion 725b distributes the load similarly to the rigid strap having the same width as the overall width of the strap 720b extending by the width of the protrusion 725b, while the protrusion 725b Similar to a strap having the same width as that of the strap 720b without, it can retain the ability to curve along a high-curvature protrusion.

It should be noted that adding such protrusions to the strap of the flexible body harness in such a way that such strap is disposed on (or inside) the flexible underlayer is intended as a non-limiting example. Alternatively, these protrusions may be formed on straps of differently configured flexible body harnesses, such as, for example, each of the protrusions at least partially each around a body segment, as described elsewhere herein. In order to keep the straps along the trajectory of the, such straps are woven together with each other and / or with the alignment straps, such protrusions can be formed on the straps of the flexible body harness.

The flexible body harness is additionally or alternatively configured to limit the amount of shear force applied, by an element of the flexible body harness, to any location on the skin of a segment of the body to which the harness is mounted. Can be. This is, for example, to reduce discomfort due to the use of the body harness, or, for example, to use the harness by specifying the maximum shear force and / or shear pressure that can be applied by the strap of the flexible body harness. To reduce the risk of personal injury, it can be done. In some embodiments, this is the bond strength between the strap and the flexible underlayer at one or more locations along the strap when the shear force between the strap (s) and the flexible underlayer at a particular location (s) increases above a certain maximum shear force. This can be achieved by defecting the strap of the body harness to the flexible underlayer of the body harness, so that is reduced. For example, the strap of the body harness may have a shear force greater than or equal to the maximum shear pressure or shear force (e.g., greater than the shear pressure corresponding to discomfort, e.g. 2 pounds / in ² It can be coupled to the underlayer by a hook-and-loop fastener layer that cannot deliver greater shear pressure). In addition, such a shape allows the area of such a harness strap that applies a shear force level above this specified maximum shear force to be separated from the flexible underlayer while changing the orbit of the strap so that the shear force is applied more uniformly across the strap. , It can facilitate to equally apply the shear force across the strap of such a flexible body harness. In addition, the use of hook-and-loop fasteners, for example, by detecting sounds associated with the 'micro-slip' of hook-and-loop fasteners, in areas exerting enormous amounts of shear force, It is possible to facilitate detection of the strap region exerting the greatest shear force.

This is shown in FIG. 7C, showing a flexible body harness 700c mounted to a segment (eg, calf) of the body 705c. The flexible body 700c includes several pairs of straps 720c, at least partially along the corresponding trajectory around the body segment 705c, and connected to the tether 710c and the flexible underlayer 730c. . The strap 720c is one or more along the strap 720c when the shear force between the strap (s) 720c and the flexible underlayer 730c at a particular location (s) increases above a specified maximum shear force. It is connected to the flexible underlayer 730c such that the bond strength between the strap 720c and the flexible underlayer 730c in position decreases. In this environment, the strap at a particular location can be separated from the lower layer and displaced from the original trajectory 725c to the second trajectory 721c, so that the strap along the original trajectory is certain A shear force greater than the maximum shear force at the position was applied, and the strap was able to apply the shear force more uniformly into the skin of the body segment 705c along the second trajectory.

B. Harness Strap  Exemplary means of how to distribute the applied force between pairs

The flexible body harness as described herein may include at least one pair of straps, each of which is mounted at least partially around a segment of the body, as described above, the flexible body harness Placed along the trajectory of the body, so that when the force is applied to the strap through the tether of the flexible body harness, the strap is substantially uniform across the skin of the body segment (e.g. substantially throughout) of the strap. Apply a shear force and / or shear pressure. This flexible body harness is one that allows force to be applied on the body segment, through the flexible body harness, from each different position on the body segment and / or the flexible body harness and / or in each different direction. The above may include additional tethers and related straps.

[0080] In an embodiment in which one or more pairs of straps are connected to a particular tether of the flexible body harness, in various ways such that forces are distributed between the pair of straps, the flexible body harness is between the strap pairs of the harness. It can be configured to distribute the force applied to a particular tether. For example, a flexible body harness may be configured such that the ratio of force applied from the tether to the first and second pair of straps is substantially equal to a certain ratio (e.g., the relative length of the first and second pair of straps). ). In some embodiments, the pair of straps may be rigidly coupled to the tether, such that the applied force is distributed between the pair of straps, and the compliance and / or geometry (eg, of the tether's branching). Degree or pattern) can be specified. Additionally or alternatively, the pair of straps can be connected to each other and / or to the tether in such a way that the applied force is distributed between the pair of straps in a particular way. This allows the straps to be woven or otherwise placed relative to each other and / or between pulleys and / or other coupling load-bearing materials (e.g. pulleys and / or straps or other elements of the flexible body harness). It may include the step of connecting to a tether using a loop of rigid or flexible material.

In a particular example, a flexible body harness may include multiple pairs of straps woven and / or interwoven together with a plurality of alignment straps, so that the force applied to the harness through the tether of the harness , To distribute between strap pairs of harness according to some specific distribution or pattern of force (eg, force to be evenly distributed between each pair of straps of harness). This flexible body harness 800 is shown in FIG. 8. The flexible body harness 800 includes a pair of 'load-bearing straps' 820 that are woven together with the alignment strap 825 and coupled to the tether 810. The 'load-bearing strap' 820, when the harness 800 is mounted on a segment of the body, is disposed along each trajectory as described herein, so that the force goes through the tether 810 When applied to the sex body harness 800, a substantially uniform shear force across the corresponding portion of each 'in-load strap' 820 is applied to the skin of the body segment through the 'in-load strap' 820. It can be authorized. As shown in FIG. 8, the force is applied between the 'in-load strap' 820 (and / or between the 'in-load strap' 820 and the alignment strap 825) brads 820 ). Alternatively, these straps can be joined in several different ways, for example by stitching, adhesive or some other bonding means.

[0082] A pattern of weaving together of 'in-load straps' 820, a pair of 'in-load straps' 820 and / or alignment straps 825 by Brad 830 (or other coupling means) The coupling pattern, the positional displacement of such a coupling along the length of the straps 820, 825 of the flexible body harness 800, or some other characteristics of the configuration of the flexible body harness 800, are specified, thus, Forces applied to the harness 800 through the tether 810 are distributed between pairs of the 'load-bearing straps' 820 of the harness 800 according to some specific considerations (eg, applied Force the force to satisfy a certain ratio more than once between the pair and pair of 'load-bearing straps' 820). Additionally or alternatively, additional straps or other materials can be used to provide such a distribution of the specified force between the pair of 'with-load straps' 820 of the flexible body harness 800. It can be woven between straps 820 and / or between pulleys coupled to pairs of 'load-bearing straps' 820.

Additionally or alternatively, each strap pair of flexible body harness can be coupled to the tether of the harness through a load distributor. Such a load divider, between a pair of tethers and straps according to one or more pulleys, loops or other configurations of load-resistant materials (e.g. ropes, cables, strings, chains), or a specific distribution pattern of forces between these pairs of straps It may include other elements configured to transmit force to the. For example, the load distributor can be configured to distribute an equally applied force between strap pairs of the flexible body harness. In another example, the load divider has a ratio of a set of forces between a pair of straps (e.g., a level of shear force and / or shear pressure applied to the skin of a body segment by straps of each pair of straps, a body harness) Can be configured to distribute the applied force between the strap pairs of the flexible body harness according to the ratio of the length of the length of each pair of straps) to be substantially the same across all straps.

This flexible body harness is shown in FIG. 9A. The flexible body harness 900 includes a pair of 'load-bearing straps' 920 that are each coupled to each pulley 930. Pulley 930 forms part of a load divider that also includes a continuous loop of load-resistant material 910 (eg, rope, chain, cable, tether), which, in turn, is another pulley Through, it is connected to the tether of the body harness 900, which is a passage through which force is applied to the body harness 900. The pulley 930, in the illustrated example, consists of a figure-eight clip, with a corresponding pair of straps connected to / via a first opening of the octagonal clip, and inner- The load loop 910 is coupled to / through the second opening of the eight-shaped clip. Other types of pulleys and methods of connecting straps, loops of load-resistant materials, or other elements of the load divider and / or flexible body harness to these pulleys may also be used.

The continuous loop of the load-bearing material 910, in various ways, facilitates the distribution of the forces between the strap pairs of the body harness 900 according to any particular distribution of these forces, the pulley 930 and It may be woven through the tether (eg, through a pulley coupled to the tether), or otherwise coupled to the pulley 930 and / or the tether. One embodiment is schematically illustrated in FIG. 9B. 9B shows each of the pair of straps 920a, 920b, 920c connected to respective pulleys 930a, 930b, 930c. 9B also shows a tether pulley 915 connected to the tether of the flexible body 900. The connection pattern between pulleys 930a, 930b, 930c, 915 by a continuous loop of the first example of load-resistant material 910a is also shown. The continuous loop of the first example of the load-resistant material 910a forms a loop from the tether pulley 915, through each strap pulley 930a, 930b, 930c, and back to the tether pulley 915, Thus, force from the tether (via the tether pulley 915) can be evenly distributed to each strap pair 920a, 920b, 920c. This distribution of force increases the amount of force that can be distributed by the load divider in another way, for example by passing each successive loop through the pulley shown above several times (eg, by a load divider). Force by passing through the same pulley, including multiple successive loops of the load-bearing member through an additional pulley coupled to the tether and strap pair, or (e.g., by a load-bearing distributor) It should be noted that this can be achieved according to some other scheme, or some other configuration, which increases the amount of and / or provides redundancy.

In another example, a continuous loop of load-resistant material 910 can pass through each pulley 930a, 930b, 930c a number of times, each in a pair of straps 920a, 920b, 920c The ratio between the distributed forces can be specified in relation to the relative number of times a continuous loop of load-bearing material 910 passes through each pulley 930a, 930b, 930c to form a loop. One embodiment is schematically illustrated in FIG. 9C. 9C shows each of the pair of straps 920a, 920b, 920c connected to respective pulleys 930a, 930b, 930c. 9C also shows a tether pulley 915 connected to the tether of the flexible body harness 900. The connection pattern between pulleys 930a, 930b, 930c, 915 by a continuous loop of the second example of load-resistant material 910c is also shown. The continuous loop of the second example of the load-resistant material 910b starts from the tether pulley 915, three times through the first strap pulley 930a and back to the tether pulley 915, the second strap pulley 930b ) Through and back to the tether pulley 915 twice, and once through the third strap pulley 930c and once again to the tether pulley 915, to form a loop back. As such, half of the force (through the tether pulley 915) from the tether can be distributed to the first strap pair 920a, and one third of the force from the tether to the second strap pair 920b. It can be distributed, and 1/6 of the force from the tether can be distributed to the third strap pair 920c.

Different passing patterns of the continuous loop of the load-bearing material of the load distributor can be used to distribute the force between strap pairs of the flexible body harness according to different force ratios. In addition, these load distributors are a number of continuous load-bearing materials coupled to a corresponding set of strap pairs (and associated pulleys or other coupling means) and / or additional tether pulleys or other pulleys according to some other configuration. Loops. For example, a first set of strap pairs can be coupled together to a first pulley block through a first continuous loop of a load-bearing material and associated pulley, and a second set of strap pairs, a load-bearing material and The second pulley block may be coupled together through a second continuous loop of the associated pulley. The first and second pulley blocks can be joined together to the tether through a third continuous loop of the load-resistant material and associated pulley. Such a system, from a tether between first and second pulley blocks, and pairs of pulleys of each corresponding set, according to a specific pattern for distribution of force between strap pairs of the first and second sets of strap pairs From each of the first and second pulley blocks between the pulley pairs within, it can be configured to distribute the force. Other configurations of the load distributor of the flexible body harness can be used.

C. Strap  Along the length On the strap  To evenly distribute the force applied by Harness Strap  Exemplary way to adjust orbit

The trajectory of the strap of the flexible body harness as described herein is based on the body segment model on which the body harness is mounted (eg, based on a cylindrical structure, the body segment measured geometry of a particular wearer) Based on the structure, it can be determined based on the calculated average geometry of the body segments of a fairly large population of individuals. Additionally or alternatively, a flexible body harness is such that, for example, the force exerted by the strap inside the skin is evenly distributed over one or more parts of the strap so that the orbits of one or more straps of the harness can be adjusted. It can be adjusted to increase the degree. When the flexible body harness is mounted to the body segment, a force can be applied to this flexible body harness, and the resulting pattern of shearing action applied from the strap to the skin of the body segment can be determined. Based on this determined pattern of shearing, the trajectory of one or more straps can be adjusted to ensure that the shear force applied by the adjusted strap is more evenly distributed to the skin of the body segment equipped with the body harness. This includes determining a position at which the applied shear force is greatest along a strap, and adjusting the strap at the determined position so that the shear force applied to the skin of the body segment through the strap at the determined position is reduced. It may include steps. This process can be performed multiple times (eg, repeatedly) to optimize the trajectory of the strap of the flexible body harness.

The shear force exerted on the skin of the body segment on which the body harness is mounted by the strap of the flexible body harness at a specific location along the strap can be determined in various ways. The shear force applied by the strap at one or more locations is based on the sensor output, for example, on the flexible underlayer of the body harness and / or within the underlayer, disposed on or within the strap on the skin surface of the body segment. Based on sensor outputs of pressure, force, and / or strain, disposed within or within any other element (s) and / or element (s) of the body segment and / or body harness to which the harness is mounted, Can be determined. Additionally or alternatively, the index marking (eg, regularly spaced lines or dots, regularly spaced grids) may be (eg, as a seated pigment, fabric element (s) of the harness Strands of different colors at) may be formed and / or disposed on straps, flexible underlayers, or other element (s) of the body harness, such variations of index marking, straps in one or more locations It can be used to determine the relative or absolute shear force applied by.

An example of such a process for adjusting the trajectory of a strap of a flexible body harness is shown in FIGS. 10A-10D. 10A shows a flexible body harness 1000 mounted to a segment (eg, calf) of body 1005. The flexible body harness 1000 includes a strap 1020, at least partially along the first trajectory 1025a around the body segment 1005, and connected to the tether 1010 and the flexible underlayer 1030. do. As shown, the lower layer 1030 is formed from, for example, different colored strands of material woven in the fibers of the lower layer 1030, formed from pigments deposited on the material of the lower layer 1030, It may include a grid 1030 of index marking (formed from the woven texture of the lower layer 1030), which, when a force is applied to the flexible body harness 1000 through the tether 1010, for example , Determining the absolute or relative amount and distribution of the shear force (or other force or pressure) applied to the skin of the body segment 1005 and / or to the underlying layer 1030 by determining the absolute or relative amount of deformation of the index grating. Can be observed.

10B shows the flexible body harness 1000 of FIG. 10A after some force (shown with an arrow) is applied to the flexible body harness 1000 through the tether 1010. As a result, the trajectory of the strap 1020 now follows the second trajectory 1025b (the original trajectory 1025a is shown in dotted lines for comparison in FIG. 10B). In addition, the shear force applied to the skin through the lower layer 1030 by the strap 1020 is not evenly distributed across the strap (shown by arrows of unequal size on the strap 1020). This, in turn, results in a non-uniform deformation of the index of the grid line on the flexible underlayer 1030, which is used and can be observed to determine the position on the strap where the strap is applying a large shear force. Several other methods or means (e.g., pressure, force and / or) to determine this location where the greatest shear force is applied and / or to determine the shear force applied by the strap 1020 at a number of different locations. Strain sensor) can be used. As shown in FIG. 10B, this position of the largest applied shear force is located close to the tether 1010.

The strap 1020 may be adjusted at the determined location of the largest applied shear force, such that the amount of shear force applied to the determined location is attenuated. This attenuation is also uniformly evenly distributed by the strap 1020 across the strap 1020, through the lower layer 1030, onto the skin of the body segment 1005, by the strap 1020. In order to do so (eg, the application of shear force and / or shear pressure is uniform), it can act. The results of such adjustments are shown in Figure 10c. Consequently, the trajectory of the strap 1020 now follows the third trajectory 1025c (the second trajectory 1025b is shown in dashed lines for comparison in FIG. 10C). In addition, the shear force applied by the strap 1020 to the skin through the lower layer 1030 is now indicated by the unequal sized arrow on the strap 1020 shown in FIG. As it has been attenuated from the shear forces (shown), it is evenly distributed across the strap. This eventually results in a new non-uniform deformation of the grid line index on the flexible underlayer 1030 across the length of the strap 1020. The new location of the largest applied shear force can be determined, and the strap can be adjusted at that determined location for a more even distribution of the shear force applied by the strap 1020 across the length of the strap 1020. have. 10C, this new position of the largest applied shear force is located in the middle of the strap 1020.

The result of this additional adjustment is shown in FIG. 10D. As a result of this additional adjustment, the trajectory of the strap 1020 now follows the fourth trajectory 1025d (the third trajectory 1025c is shown in dashed lines for comparison in FIG. 10C). In addition, the shear force applied by the strap 1020 to the skin through the lower layer 1030 is now shown by the shear force applied at the adjustment position shown in FIG. As it decreases from the shear force), it is distributed more evenly across the strap. This, in turn, substantially deforms the index of the grid lines on the flexible underlayer 1030 across the length of the strap 1020.

10A-10D, the process of adjusting the trajectory of the strap of the flexible body harness based on the determined shear force applied by the flexible body harness 1000 and the strap, such harness and / or process It should be noted that it is intended as a non-limiting exemplary embodiment. The flexible body harness may include more or fewer straps and / or multiple pairs of straps or other additional or alternative element (s). In addition, the process of adjusting the trajectory of these straps can be performed by sequentially traversing the trajectories of each strap or pair of straps of this body harness sequentially (e.g., by completely adjusting the trajectories of each strap in turn) and simultaneously (each. It can be done to make adjustments, by applying small adjustments to the straps in turn and repeating the adjustment sequence several times), or according to some other scheme. Other methods of adjusting the trajectory of the strap of the flexible body harness as described herein are contemplated by the inventor.

III . Body reinforcement system Example

[0095] As described herein, flexible body harnesses can be varied (eg, as part of various systems or devices) to transfer forces through the skin of a surface of a segment of such a body into a segment of the body. It can also be employed in applications. These flexible body harnesses are part of any rehabilitation or prosthetic device, strength increasing device, training device, or any other system or device that makes it advantageous to transmit force uniformly, safely and comfortably to the body segment of a human or animal body. As, it can be used to apply force to segments of the human body. In particular, flexible exosuits are configured to be worn on a person and to provide force between different body segments of a person and / or between a person's body segments and a tool, pack, prosthesis, or other object. One or more of these flexible body harnesses may be included to facilitate the application of the flexible exosuit. This flexible exosuit's flexible body harness exerts a force on a particular body segment of the wearer from one or more locations to one or more directions (e.g., through one or more tethers and an associated pair of straps of a particular flexible body harness). It can be configured to.

This flexible exosuit can be configured in a variety of ways depending on various uses. Indeed, it is in the selection of software and elements (eg, mounting position, type and number of flexible body harnesses and actuators coupled thereto) that establish a flexible exosuit such as a human reinforcement platform for these various applications. It is versatile. The flexible exosuit can be configured to apply force to segments of the lower body, upper body, torso, or some or all combinations of these parts of the wearer. Flexible exosuits can be symmetrical (apply the same type of force and torque to one side of the wearer's body as for the other side) or (e.g., injured one limb and injured the other limb) It may be asymmetrical to enable assist and / or rehabilitation of forces to the wearer. The overall distinct topology for the construction of the flexible exosuit may correspond to each application field of the flexible exosuit and / or may be specified by each application field.

11A, 11B, and 11C show side, front, and back sides of the flexible exosuit 1100 worn by the wearer on the wearer's torso, head, and limbs, respectively. The flexible exosuit includes a number of flexible body harnesses 1120 as described herein mounted to each segment of the wearer's body. In addition, the flexible exosuit 1100 is configured to apply forces between the wearer's body segments through the flexible body harness 1120 of the flexible exosuit 1100 to which the force-transmitting elements are coupled. And / or passive force-transmitting elements. Such force-transmitting elements can be flexible linear actuators (eg, twisted string actuators (TSAs)), clutched-compliance elements (eg, flexible electrostatic clutching elements), or other active or passive force-transmitting elements. It may contain elements. Clutched-compliance elements can be configured to enable switching between different levels of compliance and / or to enable storage and future release of mechanical energy.

The flexible actuator 1100 is configured to apply forces to segments of the wearer's body and / or loads, tools, artificial joints or other objects to facilitate one or more activities of the wearer. For example, the flexible exosuit 1100 selectively extracts energy from the wearer's leg by adding energy to the wearer's leg motion and / or during one stage of locomotion, and part of the extracted energy By injecting to assist the movement of the wearer's legs during different stages of the movement mechanism, it can be operated to assist the wearer during walking. In another example, the flexible exosuit additionally or alternatively, allows the wearer to carry a heavier load than he / she can carry, and / or the wearer can do it by himself / herself. It allows you to carry your luggage farther than it is. Other activities of the wearer can be facilitated by the flexible exosuit 1100. Additionally or alternatively, the flexible actuator 1100 can be configured and / or operated to perform other functions.

The flexible actuator 1100 includes a number of elements to enable the functionality described herein. In particular, the illustrated flexible actuator is manually connected to the first flexible body harness 1120a and the second flexible body harness 1125a through each of the first tether 1110a and the second tether 1115a. And elastic shock-absorbing force-transmitting elements 1140a. The first flexible body harness 1120a and the second flexible body harness 1125a are mounted on the wearer's calf and foot, respectively, and are configured to uniformly apply force through the wearer's calf and foot skin, respectively. As such, the passive elastic shock absorbing force-transfer element 1140a can exert a force between the wearer's calf and foot and / or exert a bending torque on the wearer's ankle. The illustrated flexible exosuit further includes a first active force-transmitting element 1140b and a second active force-transmitting element 1140c. The first active force-transmitting element 1140b is connected to the first flexible body harness 1120a and the second flexible body harness 1125a through respective third tether 1110b and fourth tether 1115b. do. As such, the first active force-transmitting element 1140b can exert a force between the wearer's calf and foot and / or exert an extended torque on the wearer's ankle.

The flexible exosuit 1100 is coupled to the third flexible body harness 1120c and the fourth flexible body harness 1125c through each of the fifth tether 1110c and the sixth tether 1115c. And a second active force-transmitting element 1140c. The third flexible body harness 1120c and the fourth flexible body harness 1125c are mounted on the wearer's torso and thigh, respectively, and are configured to uniformly apply force through the skin of the wearer's torso and thigh. . As such, the second active force-transmitting element 1140c can exert a force between the wearer's torso and thighs and / or exert an extended torque on the wearer's buttocks and / or back.

[00101] The first active force-transmitting element 1120c and the second active force-transmitting element 1140c are connected to respective actuators 1155b, 1155c through respective transducers 1157b, 1157c. The actuator generates a linear force or rotational force that can be applied to the flexible body harness of the flexible exosuit 1100 via an electric motor, hydraulic cylinder, solenoid, reduction gear, clutch, or transducer and a force-transmitting element. It can include other elements configured to do so. These active force-transmitting elements and related elements can be composed of twisted string actuators.

The twisted string actuator is a flexible structure capable of generating a force along its length. Twisted string actuators include at least two flexible 'strands' (eg, wires, cables, ropes, fibers) twisted relative to each other (if there are two strings, the two strings are " It can be called a "twisted pair"). In some embodiments, the first end of the twisted string is attached to the first working element, and the second end of the twisted string is attached to the second working element, opposite the first end, and thus, of the second end The position is such that it can be rotated relative to the second actuating element, so that the second end can be rotated by a rotary actuator (eg, electric motor 160). The twisted string actuator converts the rotational force or torque applied to the second end of the twisted string into displacement or force between the first and second actuating elements, respectively. The properties of the twisted string (e.g., compliance, twist pitch, diameter, length) and the properties of the driven rotary actuator (e.g., acceleration, speed, torque, rotational inertia) may vary depending on the application. For example, creating a twisted string actuator with a high rate of change of displacement, a force applied between the first and second actuating elements and a high transmission ratio (transmission ratio) between a rotating actuator, a specific compliance or other characteristic) Can be selected. Also, the twisted string can be flexible and can be embodied in a curved form. For example, the twisted string can be housed in a rigid tube wound around the wearer's joint (twisted string and rigid tube are similar to Bowden cables, similar to the inner cable and outer housing, respectively), and described above. As one end each end of the twisted string is attached to a respective actuating element on both sides of the joint. This twisted string actuator can be operated to apply force across the joint between the first and second actuating elements; In addition, the flexibility of the twisted string and the rigid tube allows the twisted string actuator to remain close to the wearer's surface as the joint moves or as the flexible exosuit 1100 or other side of the wearer changes configuration. Can accept The twisted string actuator may have two or more flexible strings, and may be connected to operating elements in different ways, driven by different or multiple rotary actuators, or configured differently from these embodiments. have.

[00103] The force-transfer elements of a flexible exosuit (eg, force-transfer elements coupled between two or more flexible body harnesses of this flexible exosuit) may include exotendons have. Exotendons are structures that can transmit forces along their length and have one or more mechanical properties (eg, compliance) controlled by electrical or other signals. Exotendons can be flexible or rigid. The exotendons are thin and flexible and can match curved or flat surfaces. For example, an exotendon can include an electrostatic clutch (or some other type of mechanical clutch) connected in series with a component (eg, spring) having a particular compliance. The clutch itself, when inactive, can have a first compliance (a very high possible compliance, which corresponds to an effectively nearly complete mechanical decoupling between both ends of the clutch), and a second compliance when active (the both ends of the clutch) It is possible to have as low a compliance as possible, corresponding to the compliance of the individual components of the clutch due to the effective non-compliant mechanical coupling between them. Thus, exotendons can be considered as a kind of clutched-compliance element. The clutch and certain compliance components may be discrete, interdigitated, intercalated, or otherwise assembled closely to form an exotendon. In addition, exotendons may include a number of specific-compliance elements, independently or commonly controlled clutches, or other elements. In some embodiments, the overall compliance of exotendons can be controlled to various discrete or continuous levels by controlling multiple clutches. In some embodiments, the exotendons can be operated, for example, to store mechanical energy, and later to release stored mechanical energy, by engaging the clutch to prevent relaxation of a particular elongated compliance element. Other configurations and methods of operating exotendons are described herein.

[00104] A flexible exosuit (eg, 1100) includes fully or partially flexible linear actuators (ie actuators that are operable to generate linear forces and / or displacements and wholly or partially flexible). Additionally, and / or other types of fully or partially flexible actuators. In some embodiments, flexible actuator 1100 can include an actuator that includes an electroactive polymer artificial muscle (EPAM). EPAM actuators change size or shape in response to an applied electric field. Conversely, a change in size or shape in an EPAM actuator caused by an external force may cause an electric field to be generated inside or outside the EPAM actuator. EPAM actuators may include two or more electrodes configured to interact with an electroactive polymer material (by an electric field). The electroactive polymer material is a dielectric, ferroelectric, electrostrictive (to allow the electroactive material to oriented, expand, contract, or react differently to the electric field to cause a change in size or shape by application of the electric field. electrostrictive), or other electroactive molecules, crystals, or materials mounted within a polymer. For example, the electroactive polymer material can be composed of an elastic dielectric configured to experience electrostatic compression. Electrode active materials and electrodes can be configured in a variety of ways to enable the desired relationship between the mechanical deformation of the EPAM and the electric field between the electrodes. In some embodiments, the materials and electrodes can be configured such that the EPAM actuator converts the electric field into a magnitude change in one direction and the EPAM actuator can be operated as a flexible linear actuator. EPAM actuators may additionally or alternatively be used to generate electrical energy from mechanical energy. In some embodiments, flexible actuator 1100 may include an actuator that tensions and / or applies one cable or cables. For example, a flexible exosuit can include a linear full solenoid attached to a cable. The linear full solenoid can be attached to the first actuating element, and the end of the cable opposite the end of the cable attached to the solenoid can be attached to the second acting element. Applying a current to the solenoid can result in the force applied between the first and second working elements and / or their displacement. Other wholly or partially flexible actuators for the flexible exosuit are contemplated by the inventors.

The flexible actuator 1100 can include a composite actuator; That is, it may include an entirely or partially flexible assembly that is mechanically connected between the first and second actuating elements and includes at least one actuator. For example, the flexible exosuit 1100 is a smart comprising a linear actuator and at least one clutched compliance element (i.e., an element comprising a mechanical clutch mechanically coupled in series with a component having a particular compliance). It may include a smart tendon exomuscle (STEM). The linear actuator can be a twisted string actuator. The clutched compliance element can be constructed similar to the exotendons described herein. The STEM may include a single twisted string actuator connected to the first working element, which has a mechanical coupling in series with the exotendon connected to the second working element. The STEM comprises an exotendon mechanically coupled in series with an exotendon connected to a second working element and coupled in parallel with a single twisted string actuator connected to a first working element and coupled between the first and second working elements. can do. The STEM can include a single twisted string actuator mechanically coupled in series with an exotendon coupled to and connected to the first actuating element. The STEM can be configured to have topologies and / or properties inspired by biological actuators (eg, muscles and tendons), and can be further operated to mimic the operation of biological actuators. Other configurations of STEM are predicted by the inventors. The STEM can be operated to extract, store, inject, or otherwise convert mechanical forces and energy to and from the wearer of the flexible actuator 1100 and / or between elements of the flexible exosuit.

The flexible exosuit 1100 can additionally include an undersuit configured to maintain the position of the elements of the flexible exosuit 1100 relative to the elements of the wearer's body. The undersuit may include or be continuous with a flexible underlayer of one or more flexible body harnesses 1120 of the flexible exosuit 1100. The undersuit may be composed of various flexible fabrics, textiles, or other materials, and may enable the functions of various flexible exosuits 1100. For example, the undersuit can include a high-strength material to protect the wearer from projectiles, a fabric or other material to manage moisture released by the wearer's skin.

The flexible actuator 1100 includes additional elements. The flexible exosuit 1100 includes one or more controllers configured to operate the flexible exosuit 1100. The controller (s) receives data from a plurality of sensors in the flexible exosuit 1100, performs other functions, and operates an actuator (eg, 1155a, 1155b) of the flexible exosuit 1100 It can be configured to generate. The controller (s) operate communication elements within the flexible exosuit 1100, such as, for example, Bluetooth wireless, WiFi wireless, LTE or other cellular wireless, near-field RF communication device, modem, or other communication device. It can be configured to. The controller (s) may be configured to operate such communication devices to receive commands, transmit telemetry, enable communication between the wearer and some other person or system, or to enable some other function. have. The controller (s) may be configured to operate one or more user interfaces (UIs) in a system in communication with the flexible exosuit 1100 and / or the flexible exosuit 1100. For example, the controller (s) may provide information about the operation of the flexible exosuit 1100 to the wearer, and / or commands from the wearer (eg, the functionality of the flexible exosuit 1100) In order to receive a command to change), the touch screen mounted on or inside the sleeve worn by the wearer may be operated. The UIs in the exosuit 1100 may include a display, touch screen, touch pad, buttons, sliders, knobs, indicators, speakers, headphones, microphone or other elements.

The controller (s) may additionally or alternatively be configured to send and / or receive commands from the wearer using sensors and / or actuators of the flexible exosuit 1100. In some embodiments, the controller (s) are disposed in the flexible actuator 1100 to detect command gestures performed by the wearer and change the function of the flexible exosuit 1100 based on these command gestures. It can be configured to use sensors. In some embodiments, the controller (s) may provide a flexible exosuit (i.e. Other elements or actuators of 1100) can be used. For example, the controller (s) can generate a single pulse or sequence of pulses using a twisted string actuator to indicate that a more crouching position should be taken. In another example, the flexible exosuit 1100 can include one or more vibration, heating, or electrical stimulation elements, and the controller (s) can indicate to the wearer the status of the flexible exosuit 1100 and / Alternatively, the vibration, heating or electrical stimulation elements can be activated to provide other information to the wearer. Other methods of using the elements of the flexible exosuit 1100 to display information to the wearer are contemplated by the inventors.

The flexible exosuit 1100 may include a flexible exosuit 1100, a plurality of sensors configured to detect information regarding the operation and condition of the wearer and / or the wearer's environment. These sensors include force sensors (eg load cells), strain or displacement sensors (eg capacitive sensors, laser or ultrasonic range finders, linear encoders, rotary-to-linear transducers or rotation of transmissions) Rotary encoder for elements), each sensor (e.g., magnet and magnetometer, filtered accelerometer, magnetometer and / or gyroscope), position, velocity and / or acceleration sensor (e.g., GPS receiver, filtered or not filtered) Accelerometer, magnetometer and / or gyroscope), temperature sensor, EMG sensor, ECG sensor, pulse sensor, blood pressure sensor, galvanic skin reaction sensor, humidity sensor, chemical sensor (e.g. CO ₂ , CO, O ₂ sensor) , Ionizing radiation sensors, cameras, SONAR, LIDAR, proximity sensors, or other sensors. The sensors can be discrete or the sensors can be part of an actuator or other element of the flexible exosuit 1100. For example, by exotendons by measuring the current through an pair of exotendons or an exotendon's environment or by measuring the current and / or the impedance or voltage between a pair of electrodes and / or between them. It can be configured to be used) (to detect the deformation and / or force experienced).

The sensors can be operated to generate data that can be used to operate the flexible exosuit 1100. The data generated by the sensor can be used by a controller included in a flexible exosuit 1100 that operates actuators (eg, 1155a, 1155b) to perform certain functions. For example, the sensors can generate data indicating that the wearer was involved in a movement mechanism and the wearer was in a first specific stage of a stereotyped movement mechanism cycle, wherein the controller extracted negative work from the wearer. You can use this data to run the exotendon in order to do this. At a later point in time, the sensors can generate data indicating that the wearer was involved in the movement mechanism and that the wearer was in a second specific stage of the stereotyped movement mechanism cycle, and the controller applied energy to the wearer's leg. This data can be used to operate the exotendon to deliver or to assist the wearer's movement mechanism by actuating twisted string actuators 1155a, 1155b and / or by transferring energy to the wearer's leg.

The flexible exosuit can be configured to apply force and / or torque to a single joint or pair of right / left joints of the wearer. Such flexible exosuits can include elements that are coated / placed adjacent to the wearer's site away from a single joint, or can only include elements that are coated / placed adjacent to a single joint. The elements of the flexible actuator configured to apply force / torque to a single joint can be disposed adjacent to the single joint, or elsewhere, for example, belts, cables, gears, twisted string transmissions and And / or through some other way, it can be mechanically connected to a single joint. In some embodiments, the flexible exosuit can be configured to apply force to the wearer's ankle. For example, a flexible exosuit is configured to apply or transmit a force between two operating elements that are mechanically coupled to the wearer's calf and foot, respectively, and a smart tendon exomuscle disposed behind the wearer's leg. tendon examuscle). Components of the STEM (e.g., motors configured to drive twisted string transmission) may be located near the ankle (e.g., behind the calf) or other location (e.g., on a belt worn by the wearer). Attached and mechanically connected to the ankle by twisted string or cable transmission). Such flexible exosuits may include additional elements, eg, batteries, controllers, and sensors, depending on the application. For example, the sensor of the flexible exosuit can be placed across the legs and torso to enable gait detection, and the battery driving the flexible exosuit can be, for example, on a belt worn by the wearer. Can be located at

[00112] The flexible exosuit can be operated in combination with several other prosthetic systems. For example, the wearer can lose a limb, and the flexible exosuit can work in conjunction with a prosthesis worn by the wearer, and can be configured to replace any function of the lost limb. The flexible exosuit can be integrated with the prosthesis and can be configured to mount the prosthesis to the wearer and / or to transmit force and / or torque between the prosthesis and the wearer. In some embodiments, information detected using a flexible exosuit's sensors and / or actuators (eg, information about the posture and movement of the wearer's legs) can be used to operate the prosthesis (eg For example, the detected locomotor gait type, speed, or other information from the wearer's leg can be used to control the leg prosthesis to assume a configuration that complements the shape of the wearer's leg). Such a flexible exosuit can additionally be operated during activity (e.g., by changing the gait pattern of the wearer's leg to complement the motion pattern of the leg prosthesis) to optimize the wearer's motion to compensate for the motion of the prosthesis. .

The illustration of the elements of the flexible exosuit of FIGS. 11A-C is intended to be illustrative. Flexible exosuits can include actuators of similar or different arrangements, depending on the application. In some examples, the elements of the flexible exosuit allow the wearer's body arms and legs to be controllably mechanically coupled. For example, an exotendon can be placed in an exosuit to couple the motion of the wearer's arm to the motion of the wearer's leg. This configuration allows the wearer to use the wearer's arm to assist the wearer's leg in walking, running, sprinting, climbing, or any other activity. Other alternative configurations and applications of flexible exosuits are envisaged by the inventors. Additionally, the twisted string actuator and exotendon shown are intended as illustrative examples of the actuator. Additionally or alternatively, twisted string actuators, exotendons, EPAM, STEM, motor-and-drum-driven cables, servos, pneumatic or hydraulic pistons, racks and pinions, electric screw drives or ball screws, or other actuators , Instead of the twisted string actuator or exotendon illustrated above, may be used depending on the application.

[00114] A flexible body harness as described herein (eg, a flexible body harness that is part of a flexible exosuit (eg 1100), eg 1100), as described herein, It can be constructed in a variety of ways, from one or more directions at one or more locations, receiving forces through one or more tethers, and evenly applying such force across the skin of a body segment, such as vertical and / or shear stress. You can. In some embodiments, such a flexible body harness may be, for example, a proximal anatomical direction or a distal anatomical direction from a single direction, in a single position, relative to the body segment to which the flexible body harness is mounted. in the distal anatomical) direction, along the long axis of the body segment). This is shown in the manner of the embodiment, in FIG. 12A showing an exemplary flexible body harness 1200a. The flexible body harness 1200a includes a single tether 1210a, which is a passage through which a force is applied to the flexible body harness 1200a. A set of strap pairs 1220a are connected to the tether and optionally to other elements of the flexible body 1200a (eg, the flexible underlayer of the flexible body harness 1200a). When the set of strap pairs 1220a are mounted to the body segment and force is applied through the tether, the set of strap pairs 1220a are such that the body segment is such that shear force is uniformly applied across the strap and into the body segment. And at least partially along each orbit.

[00115] Alternatively, the flexible body harness may include multiple tethers. For example, a flexible body harness can be applied to a body segment in two different directions (e.g., anatomically distal direction in a first direction, and anatomy for a body segment) It may include two tethers configured to be applied with force, in an anatomic proximal direction. In addition, the position to which this force is applied through each tether can be close. This is illustrated as an example in FIG. 12B showing an exemplary flexible body harness 1200b. The flexible body harness 1200b includes a first tether 1210b and a second tether 1215b to which a force is applied to the flexible body harness 1200b. Due to the position of the tethers 1210b, 1215b, this force can be applied to the flexible body harness 1200b in an adjacent position. Each of the two sets of strap pairs 1220b, 1225b are respectively coupled to respective tethers 1210b, 1215b and optionally to other elements of the flexible body harness 1200b. When a set of strap pairs 1220b, 1225b is mounted on a body segment and a force is applied to one or both sides of the tether, the corresponding set of strap pairs 1220b, 1225b is such that the shear force is the corresponding set (s) of the strap ) To be evenly applied into the skin of the body segment over 1220b, 1225b, along each trajectory that at least partially surrounds the body segment.

[00116] In another example, the location where this force is applied through each tether can be substantially separated relative to the flexible body harness. This is shown as an exemplary way in FIG. 12C showing an exemplary flexible body harness 1200c. The flexible body harness 1200c includes first and second tethers 1210c and 1215c, which are passages through which force can be applied to the flexible body harness 1200c. Due to the position of the tethers 1210c, 1215c, this force can be applied to the flexible body harness 1200c in a substantially separate position. Two sets of strap pairs 1220c, 1225c are respectively coupled to corresponding tethers 1210c, 1215c, and optionally to other elements of the flexible body harness 1200c. When a set of strap pairs 1220c, 1225c are mounted to the body segment and a force is applied to one or both sides of the tether, the corresponding set 1220c, 1225c of the strap pair has a corresponding set of shear forces ( To be evenly applied into the skin of the body segment across 1220c, 1225c) (s), it may be disposed along a corresponding trajectory that at least partially surrounds the body segment.

[00117] In another example, a force may be applied through each tether, at each different location, in the same direction. This is shown in an exemplary manner, in FIG. 12D showing an exemplary flexible body harness 1200d. The flexible body 1200d includes first and second tethers 1210d and 1215d to which a force is applied to the flexible body harness 1200d. Due to the position of the corresponding sets 1220c, 1225c of the pair of tether straps, this force is substantially separated and the flexible body harness 1200d in the same direction for the body segment on which the flexible body harness 1200d is mounted. Can be applied to. Two sets of strap pairs 1220d, 1225d are respectively coupled to corresponding tethers 1210d, 1215d, and optionally to other elements of the flexible body harness 1200d. The corresponding set of strap pairs 1220d, 1225d at least partially surround the body segment such that shear forces are evenly applied into the skin of the body segment across the corresponding set 1220d, 1225d (s) of the strap pair. It can be placed along the corresponding trajectory.

In the example flexible body harnesses 1200b, 1200c, and 1200d shown in FIGS. 12B, 12C, and 12D, respectively, the tethers of each flexible body harness are each connected to a separate set of straps . However, the flexible body harness as described herein may include straps that are each coupled to multiple tethers. This is illustrated in an exemplary manner in FIG. 12E showing an exemplary flexible body harness 1200e. The flexible body harness 1200e includes first and second tethers 1210e and 1215e, which are passages through which force can be applied to the flexible body harness 1200e. Due to the position of the tethers 1210e, 1215e, this force is, in a substantially separated position, in a direction oriented in the same direction relative to the body segment on which the flexible body harness 1200e is mounted, the flexible body harness ( 1200e). The flexible body harness 1200e is coupled to both of the first and second tethers 1210e and second tether 1215e tethers, and optionally other elements of the flexible body harness 1200e. And a set of strap pairs 1220e that are coupled to the fields. When the set of strap pairs 1220e are mounted on the body segment, and when a force is applied to both tethers, the set of strap pairs 1220e, the shear force into the skin of the body segment, the set of strap pairs 1220e To be uniformly applied across, it can be arranged along an orbit that at least partially surrounds the body segment.

In addition, the flexible body harness, as described herein, can be configured to combine forces into the skin of a body segment on which the flexible body harness is mounted, in multiple directions, in each of the multiple directions. have. This is illustrated in an exemplary manner in FIG. 12F showing an exemplary flexible body harness 1200f. The flexible body harness 1200f includes first and second tethers 1210f and 1215f that are passages to which a first direction force can be applied to the flexible body harness 1200f. Due to the position of the tethers 1210f and 1215f, this force can be applied to the flexible body harness 1200f at a position substantially separated relative to the body segment on which the flexible body harness 1200f is mounted. The flexible body 1200f also includes third and fourth tethers 1212f and 1214f, which are passages through which a force in a second direction different from the first direction can be applied to the flexible body harness 1200f. . Due to the position of the tethers 1212f, 1214f, this force can be applied to the flexible body harness 1200f in a position that is substantially separated relative to the body segment on which the flexible body harness 1200f is mounted. Four sets of strap pairs 1220f, 1222f, 1224f, 1225f are respectively coupled to corresponding tethers 1210f, 1212f, 1214f, 1215f, and optionally to other elements of the flexible body harness 1200f. When the sets of strap pairs 1220f, 1222f, 1224f, and 1225f are mounted on a body segment and a force is applied to one or more tethers, the corresponding set of strap pairs 1220f, 1222f, 1224f, 1225f have a shear force in the body segment To be uniformly applied across the set of strap pairs 1220f, 1222f, 1224f, 1225f into the skin of the body, they can be disposed along a corresponding trajectory at least partially surrounding the body segment.

[00120] The illustrated configuration of the flexible body harness (eg, 1200a, 1200b, 1200c, 1200d, 1200e, 1200f) and its elements (eg, tether, strap, flexible underlayer, load balancing elements), It is intended as a non-limiting exemplary embodiment. Other configurations of these elements that form the flexible body harness as described herein are contemplated by the inventors. In addition, the illustrated configurations of straps and tethers of the flexible body harness (eg, as shown in FIGS. 12A, 12B, 12C, 12D, 12E, and 12F) may be any as described herein. To various flexible body harnesses, for example, the straps of the harness are interwoven and / or to the body harness disposed on or in the flexible underlayer of the harness, and / or the straps of the harness are mutually woven and / or It can be applied to a woven body harness with alignment straps.

IV . conclusion

[00121] The embodiments described herein are intended as illustrative and non-limiting examples of body harnesses that can be used to apply forces or loads to the body segment. Such a body harness can be configured to apply a load to one or more segments of the body according to various uses. For example, body harnesses as described herein help rehabilitation to apply auxiliary forces to segments of the human body through these body harnesses, for example, to increase the strength or durability of the human body. The exosuit can be applied as part of an exosuit or other prosthetic device or system configured to improve the coordination of the human body, or to provide some other functionality. These forces, through these body harnesses, between different segments of the body (eg, between the calf and thighs to assist or resist knee movement or torque), between the prosthetic device and body segments (eg For example, between the thigh and the lower abdominal prosthesis, between the body segments and other objects (eg, to provide a means to distribute the weight of the pack or other load across the skin of the body segment), Or, using this body harness, the force can be transmitted in some other way. The body harness may be configured to apply force to the lower body, upper body, torso, or some or all combinations of parts of the wearer's body or other body segments.

[00122] The dimensions, configuration, or other properties of a body harness as described herein can be configured to be used by various users (eg, one-size-fits) -all brace), body harness with adjustable straps, buttons, hook-and-loop material, fastners, other means to suit the wearer's size or other attributes), or can be custom-made, or individually It can be specially manufactured for the user. Some elements of the body harness may have a single size and / or configuration for various users, while other elements (eg, undersuit, stiff force-transfer element, flexible force-transfer element) may be the selected element. It can be selected from a set of elements having a range of sizes so that they have a size matched to the wearer. 3D printing, rapid prototyping, or other custom-made manufacturing methods can be used to produce elements of a body harness specifically configured to be worn and / or used by a particular wearer.

Body harnesses as described herein can be configured for use by anatomically typical human wearers or atypical human wearers. The body harness has undergone some alteration of anatomy (e.g., a tendon implant) due to surgical procedures, which has lost part of its body (e.g., arms, legs), or is atypical with anatomy It can be configured to be worn and operated by a human wearer.

Body harnesses as described herein can be configured for use by non-human animals. For example, the body harness may be configured to be worn by non-human primates, dogs, horses, or any other animal depending on the application (eg, animal training).

[00125] The specific arrangement shown in the figures should not be considered limiting. It should be understood that other embodiments may include more or less of each element shown in a given figure. Moreover, some of the illustrated elements may be combined or omitted. Furthermore, some example embodiments may include elements not shown in the figure.

Additionally, while various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for the purpose of illustration and not limitation, and the true scope and spirit of thought is dictated by the following claims. Other embodiments can be used and other changes can be made without departing from the spirit or scope of the subject matter presented herein. As generally described herein and illustrated in the drawings, aspects of the presently disclosed subject matter can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are readily contemplated herein. It could be.

100: auxiliary system
110,200,300a, 300b, 400,500,600,700a, 700b, 800,900,1000: flexible body harness
115,210: Tether 120: Transmission element
130: boots 220: strap (220)

Claims (20)

As a flexible body harness,
The flexible body harness is mountable to the segment of the body to at least partially surround the segment of the body,
The flexible body harness,
Flexible underlayer;
Tether; And
A first strap and a second strap;
It includes,
The first strap and the second strap are coupled to the tether and the flexible underlayer, so that the flexible body harness is mounted to the segment of the body such that the flexible body harness at least partially surrounds the segment of the body. When, the first strap and the second strap are disposed along corresponding first and second trajectories at least in part around a segment of the body,
The first and second trajectories around the segment of the body are on the corresponding sides of the flexible body harness relative to the tether,
Corresponding angles of the first trajectory and the second trajectory with respect to the tether follow the first strap and the second strap, respectively, from the tether across at least a corresponding portion of each of the first strap and the second strap. Increases with distance, and thus, when a force is applied to the flexible body harness through the tether, through the first strap and the second strap and the lower layer, shear force due to the force is caused by the force of the segment of the body. A flexible body harness characterized in that the shear force is uniformly distributed across a corresponding portion of each of the first strap and the second strap by being applied to the skin. According to claim 1,
The first strap and the second strap is a flexible body harness, characterized in that formed in the flexible lower layer. According to claim 1,
The first strap and the second strap is a flexible body harness, characterized in that formed on the flexible lower layer. The method of claim 3,
A flexible body harness characterized in that the coupling position between the flexible lower layer and the first strap is adjustable so that the first trajectory can be adjusted. The method of claim 4,
A flexible body harness characterized in that the flexible lower layer and the first strap are joined by a layer of hook-and-loop fasteners. The method of claim 3,
The flexible lower layer and the first strap, when the shear force between the flexible lower layer and the first strap at a particular position increases above a certain maximum shear force, the first strap and the flexible at a specific position along the first strap A flexible body harness characterized in that it is combined so that the bonding force between the sexual underlayers decreases. The method of claim 3,
The first strap, when the flexible body harness is mounted on a segment of the body and a force is applied to the flexible body harness through the tether, the skin of the segment of the body from the first strap through the lower layer Flexible body harness, characterized in that it comprises a plurality of protrusions configured to distribute the applied shear force. The method of claim 3,
The flexible underlayer is substantially in a specific position along the first strap, in a direction perpendicular to the direction of the first strap in the specific position, rather than in a direction perpendicular to the direction of the first strap in a specific position, substantially A flexible body harness characterized by being more flexible. The method of claim 3,
The first trajectory and the second trajectory overlap at one location on the flexible underlayer on the opposite side of the segment of the body from the tether,
The first strap and the second strap is a flexible body harness, characterized in that coupled together at the intersection of the first track and the second track. The method of claim 3,
The first strap and the second strap, when the flexible body harness is mounted to a segment of the body, forms a flexible continuous body harness that at least partially surrounds the segment of the body. . According to claim 1,
A flexible body harness characterized in that the portion of the first track corresponds to a cross section of a catenary curve. According to claim 1,
Additional tethers; And
A third strap and a fourth strap;
Further comprising,
The third strap and the fourth strap are coupled to the additional tether and the flexible underlayer, so that the flexible body harness is attached to the segment of the body such that the flexible body harness at least partially surrounds the segment of the body. When mounted, the third strap and the fourth strap are disposed along corresponding third and fourth trajectories in at least a portion around the segment of the body,
The third and fourth trajectories around the segment of the body are on the corresponding side of the flexible body harness for the additional tether,
Corresponding angles of the third and fourth trajectories relative to the additional tethers may cause the third and fourth straps from the additional tether to cross at least a corresponding portion of each of the third and fourth straps. Each increases with the following distance, so that when a force is applied to the flexible body harness through the additional tether, through the third strap and the fourth strap and the lower layer, the shear force due to the force is caused by the body By applying to the skin of the segment of the flexible body harness, characterized in that the shear force is distributed evenly across the corresponding portion of each of the third strap and the fourth strap. According to claim 1,
A third strap and a fourth strap; And
Load divider;
Further comprising,
The third strap and the fourth strap are coupled to the tether and the flexible underlayer, so that the flexible body harness is mounted to the segment of the body such that the flexible body harness at least partially surrounds the segment of the body. When, the third strap and the fourth strap are disposed along the corresponding third and fourth trajectories in at least a portion around the segment of the body,
The third and fourth trajectories around the segment of the body are on the corresponding side of the flexible body harness relative to the tether,
The corresponding angles of the third trajectory and the fourth trajectory with respect to the tether follow the third strap and the fourth strap, respectively, from the tether across at least a corresponding portion of each of the third strap and the fourth strap. It increases with distance, so that when a force is applied to the flexible body harness through the tether, through the third strap and the fourth strap and the lower layer, the shear force due to the force is caused by the force of the segment of the body. By being applied to the skin, the shear force is uniformly distributed across the corresponding portions of each of the third and fourth straps,
The first strap, the second strap, the third strap and the fourth strap are coupled to the tether through the load divider,
The load divider,
A first pulley coupled to the tether;
A second pulley coupled to the first strap and the second strap;
A third pulley coupled to the third strap and the fourth strap; And
Continuous loops of load-resistant materials;
It includes,
The continuous loop of the load-resistant material, when a force is applied to the flexible body harness through the tether, through the first strap and the second strap and the lower layer, the first strap and the second from the tether The ratio between the force applied to the strap and the force applied from the tether to the third strap and the fourth strap is threaded between the first strap, the second strap, and the third strap so as to correspond to a specific ratio. Flexible body harness characterized by being. According to claim 1,
Corresponding angles of the first trajectory and the second trajectory with respect to the tether follow the first strap and the second strap, respectively, from the tether across at least a corresponding portion of each of the first strap and the second strap. Increases with distance, and thus, when a force is applied to the flexible body harness through the tether, through the first strap and the second strap and the lower layer, corresponding to each of the first strap and the second strap A flexible body harness characterized in that a shear force varying less than 10% across the site is applied to the skin of the segment of the body. As a flexible body harness,
The flexible body harness is mountable to the segment of the body to at least partially surround the segment of the body,
The flexible body harness,
Tether;
A first strap and a second strap; And
A plurality of alignment straps;
It includes,
The first strap and the second strap are coupled to the tether, so that when the flexible body harness is mounted to a segment of the body such that the flexible body harness at least partially surrounds the segment of the body, the first strap The first strap and the second strap are disposed along the corresponding first and second tracks at least in part around the segment of the body,
The first and second trajectories around the segment of the body are on the corresponding sides of the flexible body harness relative to the tether,
Corresponding angles of the first trajectory and the second trajectory with respect to the tether follow the first strap and the second strap, respectively, from the tether across at least a corresponding portion of each of the first strap and the second strap. Increases with distance, and thus, when a force is applied to the flexible body harness through the tether, a shear force due to the force is applied to the skin of the segment of the body through the first strap and the second strap. By making it possible, the shear force is uniformly distributed across the corresponding portion of each of the first strap and the second strap,
The plurality of alignment straps are such that when the force is applied to the flexible body harness through the tether, the first strap and the second strap are maintained along the first and second tracks, respectively, the first strap And a second body to be woven together with the second strap. The method of claim 15,
A third strap and a fourth strap;
Further comprising,
The third strap and the fourth strap are coupled to the tether, so that when the flexible body harness is mounted to a segment of the body such that the flexible body harness at least partially surrounds the segment of the body, the first The third strap and the fourth strap are disposed along the corresponding third and fourth trajectories at least in part around the segment of the body,
The third and fourth trajectories around the segment of the body are on the corresponding side of the flexible body harness relative to the tether,
The corresponding angles of the third trajectory and the fourth trajectory with respect to the tether follow the third strap and the fourth strap, respectively, from the tether across at least a corresponding portion of each of the third strap and the fourth strap. It increases with distance, so that when a force is applied to the flexible body harness through the tether, through the third and fourth straps and the underlying layer, the shear force due to the force is the skin of the segment of the body. By being applied to, the shear force is uniformly distributed across the corresponding portion of each of the third strap and the fourth strap,
The plurality of alignment straps, when a force is applied to the flexible body harness through the tether, the third strap so that the third strap and the fourth strap are maintained along the third and fourth trajectories, respectively. And a fourth body to be woven together with the fourth strap. The method of claim 15,
Additional tethers; And
A third strap and a fourth strap;
Further comprising,
The third strap and the fourth strap are coupled to the additional tether, so that when the flexible body harness is mounted to the segment of the body such that the flexible body harness at least partially surrounds the segment of the body, the A third strap and a fourth strap are disposed along corresponding third and fourth trajectories at least in part around the segment of the body,
The third and fourth trajectories around the segment of the body are on the corresponding side of the flexible body harness for the additional tether,
Corresponding angles of the third and fourth trajectories relative to the additional tethers may cause the third and fourth straps from the additional tether to cross at least a corresponding portion of each of the third and fourth straps. Each increases with the following distance, and thus, when a force is applied to the flexible body harness through the additional tether, through the third strap and the fourth strap, the shear force due to the force of the segment of the body By being applied to the skin, the shear force is uniformly distributed across the corresponding portions of each of the third and fourth straps,
The plurality of alignment straps are such that when the force is applied to the flexible body harness through the additional tether, the third strap and the fourth strap are maintained along the third and fourth trajectories, respectively. Flexible body harness characterized by being woven together with the strap and the fourth strap. The method of claim 15,
Corresponding angles of the first trajectory and the second trajectory with respect to the tether follow the first strap and the second strap, respectively, from the tether across at least a corresponding portion of each of the first strap and the second strap. Increases with distance, and thus, when a force is applied to the flexible body harness through the tether, transverses a corresponding portion of each of the first strap and the second strap through the first strap and the second strap. A flexible body harness characterized in that a shear force varying less than 10% is applied to the skin of the segment of the body. The method of claim 15,
A flexible body harness characterized in that the portion of the first track corresponds to a cross section of a catenary curve. Mounting a flexible body harness to a segment of the body, wherein the flexible body harness is mounted to a segment of the body such that it at least partially surrounds the segment of the body, wherein the flexible body harness comprises: a flexible underlayer; Tether; And a first strap and a second strap; It includes, The first strap and the second strap is disposed on the flexible lower layer, the first strap and the second strap is coupled to the tether and the flexible lower layer, and thus, the first strap and the first 2 Straps are disposed along the corresponding first and second trajectories at least in part around the segments of the body, wherein the first and second trajectories around the segments of the body are of the flexible body harness relative to the tether. Existing on the corresponding side, the coupling position between the flexible underlayer and the first strap is adjustable so that the first trajectory can be adjusted, and the correspondence of the first trajectory and the second trajectory to the tether The angle to be increased, along with the distance along the first strap and the second strap, respectively, from the tether at at least a corresponding portion of each of the first strap and the second strap And thus, when a force is applied to the flexible body harness through the tether, a shear force due to the force is applied to the skin of the segment of the body through the first strap and the second strap and the lower layer. Attaching the flexible body harness above to a segment of the body;
Applying a force to the flexible body harness through the tether;
Determining, at two or more positions along the first strap, the relative magnitude of the shear force applied to the skin of the body segment through the first strap and the lower layer;
Determining where the applied shear force is greatest at two or more locations; And
Adjusting the strap at two or more locations where the applied shear force is greatest, such that through the first strap and the lower layer, the shear force is applied to the skin of a segment of the body, at the determined location of the two or more locations;
How to include.

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